// --------------------------------------------------------------------------------------------------------------------
// <copyright file="PoseNoiseModelParamsLoaderTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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namespace Test.Robotics.Hardware.DAC
{
    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.IO;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Wheel calibration info data loader related tests.
    /// </summary>
    [TestClass]
    public class PoseNoiseModelParamsLoaderTest
    {
        /// <summary>
        /// Tests wheel calibration loader export/import.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void PoseNoiseModelParamsSaveAndLoadTest()
        {
            string testFileName = PoseNoiseModelParams.Filename;
            PoseNoiseModelParams testPoseNoiseModelParamsInfo = new PoseNoiseModelParams();
            testPoseNoiseModelParamsInfo.IgnoreNoiseParams = false;
            testPoseNoiseModelParamsInfo.AngleFromInitialToTranslationStdInRads = 0.02;
            testPoseNoiseModelParamsInfo.AngleFromTranslationToFinalStdInRads = 0.03;
            testPoseNoiseModelParamsInfo.TranslationStdDevInMeters = 0.04;

            DataLoader<PoseNoiseModelParams>.ExportData(testFileName, testPoseNoiseModelParamsInfo);
            PoseNoiseModelParams readPoseNoiseModelParamsInfo = DataLoader<PoseNoiseModelParams>.ImportData(testFileName);
            Assert.AreEqual(testPoseNoiseModelParamsInfo.IgnoreNoiseParams, readPoseNoiseModelParamsInfo.IgnoreNoiseParams);
            Assert.AreEqual(testPoseNoiseModelParamsInfo.AngleFromInitialToTranslationStdInRads, readPoseNoiseModelParamsInfo.AngleFromInitialToTranslationStdInRads);
            Assert.AreEqual(testPoseNoiseModelParamsInfo.AngleFromTranslationToFinalStdInRads, readPoseNoiseModelParamsInfo.AngleFromTranslationToFinalStdInRads);
            Assert.AreEqual(testPoseNoiseModelParamsInfo.TranslationStdDevInMeters, testPoseNoiseModelParamsInfo.TranslationStdDevInMeters);
        }
    }
}
